Automatic carton filling production line for strip soft package

Abstract

The application provides a strip-shaped soft package material automatic boxing production line, which comprises a first conveyor, a boxing mechanism, a second conveyor, a box moving mechanism, a third conveyor and a box sealing machine; the first conveyor is used for conveying soft package materials arranged along a first direction; the second conveyor is used for conveying packaging boxes along a second direction perpendicular to the first direction; the third conveyor is used for conveying the packaging boxes to the box sealing machine along a third direction; the boxing mechanism is used for sequentially grabbing the soft package materials into the packaging boxes aligned with the first conveyor along the first direction; the box moving mechanism is used for moving the packaging boxes filled with the soft package materials from the second conveyor to the third conveyor, and making the length direction of the packaging boxes consistent with the third direction when being moved to the third conveyor. The strip-shaped soft package material automatic boxing production line can reduce the equipment cost, maintenance cost and automation control difficulty of the soft package material automatic boxing production line, and improve the compactness of the structure to reduce the space occupation.

Description

Technical Field

[0001] This invention belongs to the field of automatic packing technology for flexible packaging materials, and specifically relates to an automatic packing production line for strip-shaped flexible packaging materials. Background Technology

[0002] In the construction and automotive industries, sealants such as silane-modified polyether sealants are commonly used to waterproof and seal assembly gaps. To facilitate later use, these sealants are usually packaged in soft, round strips. After the soft packaging is completed, the soft packaging material is packed into boxes according to certain quantity standards.

[0003] Currently, with the rapid development of production automation, industrial robots are generally deployed on assembly lines to replace manual labor in picking up soft packaging materials for automated packing. The drawbacks of this automation solution are twofold: firstly, industrial robots are expensive and require high maintenance costs; secondly, they occupy a large amount of space, and coordinating their movements with the assembly line is quite challenging. Summary of the Invention

[0004] This invention provides an automatic packing production line for strip-shaped flexible packaging materials, aiming to reduce the equipment cost, maintenance cost, and automation control difficulty of the automatic packing production line for flexible packaging materials, and improve the structural compactness to reduce space occupation.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: An automatic packing production line for strip-shaped flexible packaging materials is provided, comprising a first conveyor, a packing mechanism, a second conveyor, a transferring mechanism, a third conveyor, and a sealing machine; the first conveyor is used to convey flexible packaging materials along a first direction, the second conveyor is used to convey packaging boxes along a second direction perpendicular to the first direction, and the third conveyor is used to convey packaging boxes along a third direction, the third direction forming an angle with the second direction; the packing mechanism is located between the first and second conveyors and is used to sequentially grab the flexible packaging materials into packaging boxes aligned with the first conveyor along the first direction; the transferring mechanism is located between the second and third conveyors and is used to transfer packaging boxes filled with flexible packaging materials from the second conveyor to the third conveyor; the sealing machine is connected to the end of the third conveyor furthest from the second conveyor; wherein, the process of the transferring mechanism transferring packaging boxes includes revolution and rotation, the revolution and rotation together causing the length direction of the packaging box to change from parallel to the first direction to parallel to the third direction.

[0006] In one possible implementation, the packing mechanism includes a gantry, a gripping assembly, and a linear drive; the gantry is fixedly connected to the end of the first conveyor near the second conveyor; the gripping assembly is slidably connected to the gantry along a first direction; the linear drive is disposed on the gantry and its output end is connected to the gripping assembly; wherein the gripping assembly is used to move to directly above the first conveyor to grip the soft packaging material under the drive of the linear drive, and to move to directly above the packaging box to release the soft packaging material under the drive of the linear drive.

[0007] In some embodiments, the gripping assembly includes a slide, a telescopic drive, a gripping frame, and two opening and closing grippers; the slide is slidably connected to the gantry and connected to the output end of the linear drive; the telescopic drive is fixedly connected to the slide and has an output end that extends and retracts in a vertical direction; the gripping frame is connected to the slide or the telescopic drive, and the gripping frame has two downwardly extending connecting arms spaced apart along a first direction; the two opening and closing grippers are respectively connected to one of the connecting arms, and both opening and closing grippers are connected to the output end of the telescopic drive, for synchronously opening and closing under the drive of the telescopic drive to grip or release soft packaging materials.

[0008] For example, the output end of the telescopic drive is connected to a crossbar, which extends along a first direction; the opening and closing gripper includes two claw arms and two claw bodies; wherein, the two claw bodies are symmetrically distributed around the connecting arm and both are hinged to the connecting arm at their middle parts, the lower ends of the two claw bodies are provided with claw grooves that match the circumferential shape of the soft packaging material, the upper ends of the two claw bodies are respectively rotatably connected to the lower end of one of the claw arms, and the upper ends of the two claw arms are rotatably connected to the end of the crossbar; an elastic traction member is connected between the upper ends of the two claw arms or the two claw bodies.

[0009] In one possible implementation, the box-moving mechanism includes a support, a rotary drive, a planetary transmission assembly, and a box-gripping suction cup. The support is fixedly supported in the corner area formed by the second and third conveyors. The rotary drive is vertically fixed to the support. The planetary transmission assembly is mounted on the support, and its power input end is connected to the output end of the rotary drive. The power output end of the planetary transmission assembly has a horizontal oscillating revolution degree of freedom and a horizontal rotational degree of freedom. The box-gripping suction cup is connected to the power output end of the planetary transmission assembly and is used to grip the packaging box.

[0010] In some embodiments, the planetary transmission assembly includes a fixed sprocket, a transmission frame, and planetary sprockets; the fixed sprocket is fixedly connected to a support; the transmission frame is rotatably connected to the axle of the fixed sprocket and is also connected to the output end of a rotary drive component, the transmission frame swinging around the axle of the fixed sprocket under the drive of the rotary drive component; the planetary sprockets are rotatably connected to the transmission frame and are connected to the fixed sprocket via a chain drive, and a gripper suction cup is connected to the axle of the planetary sprockets; wherein, the planetary sprockets are used to revolve around the fixed sprocket under the drive of the transmission frame and also to rotate under the drive of the chain.

[0011] For example, the tooth ratio of the fixed sprocket and the planetary sprocket is 90°:N; where N is the supplementary angle of the angle between the second direction and the third direction, and 0° < N < 180°.

[0012] For example, the transmission frame includes a first rod and a second rod that are connected at an angle. The joint of the first rod and the second rod is rotatably sleeved on the axle of a fixed sprocket. The end of the first rod away from the fixed sprocket is rotatably sleeved on the axle of a planetary sprocket. The end of the second rod away from the fixed sprocket is rotatably connected to a rocker arm. The output end of the rotary drive is rotatably connected to a crank, and the crank is rotatably connected to the rocker arm. When the crank rotates one revolution, the rocker arm drives the second rod to reciprocate and swing by an angle of N.

[0013] In some embodiments, the second conveyor is provided with a telescopic stop, which has an interception state in which it extends to block the packaging box, the interception state being used to stop the packaging box at a position aligned with the first conveyor along a first direction, and the telescopic stop also has a release state in which it retracts to avoid the packaging box.

[0014] In some embodiments, the automatic packing production line for strip flexible packaging materials further includes a controller, and a first sensor, a counter, a second sensor, and a third sensor electrically connected to the controller respectively; wherein, the first sensor is used to detect the traveling position of the flexible packaging material on the first conveyor, the counter is used to detect the number of packing actions of the packing mechanism, the second sensor is used to detect the traveling position of the packaging box on the second conveyor, and the third sensor is used to detect whether the box-transfer mechanism has transferred the packaging box to the third conveyor.

[0015] The beneficial effects of the automatic packing production line for strip-shaped flexible packaging materials provided by this invention are as follows: Compared with the prior art, in this automatic packing production line for strip-shaped flexible packaging materials, the first and second conveyors are arranged vertically, which allows the packing mechanism to complete the packing by simply making a linear motion after grasping the flexible packaging material, thus reducing the difficulty of controlling the packing action. The third and second conveyors can be arranged at any angle to the second conveyor according to the available space. The packing mechanism is located in the junction area between the first and second conveyors, and the box-moving mechanism is located in the junction area between the second and third conveyors. Compared with the existing structure of multiple conveyors linearly connected and industrial robots set on the sides of the conveyors, this method is more efficient. The structure and layout are more flexible and compact, occupying less space. On this basis, replacing two industrial robots with a packing mechanism and a box-moving mechanism can greatly reduce equipment and maintenance costs, and can reduce the difficulty and cost of automation control compared to industrial robots. In addition, during the process of transferring the package from the second conveyor to the third conveyor, the box-moving mechanism can use revolution and rotation to adjust the length direction of the package to be consistent with the third direction, which can facilitate the sealing machine to wrap the package with at least two straps in the length direction, thereby saving the step of adjusting the sealing angle of the package on the third conveyor, which helps to reduce the control difficulty and improve work efficiency. Attached Figure Description

[0016] Figure 1 A three-dimensional structural schematic diagram of an automatic packing production line for strip-shaped flexible packaging materials provided in an embodiment of the present invention;

[0017] Figure 2 This is a three-dimensional structural diagram of the packing mechanism used in an embodiment of the present invention;

[0018] Figure 3 This is a three-dimensional structural diagram of the box-moving mechanism used in an embodiment of the present invention when it picks up a packaging box from the second conveyor.

[0019] Figure 4 This is a three-dimensional structural diagram of the process by which the box-transferring mechanism used in an embodiment of the present invention transfers the packaging box onto the third conveyor.

[0020] Figure 5 This is a schematic diagram illustrating the motion principle of the box-moving mechanism used in an embodiment of the present invention.

[0021] In the diagram: 10. First conveyor; 20. Packing mechanism; 21. Gantry frame; 211. Slide rail; 22. Gripping assembly; 221. Slide block; 222. Telescopic drive component; 2221. Crossbar; 223. Gripping frame; 224. Opening and closing gripper; 2241. Claw arm; 2242. Claw body; 2243. Claw groove; 2244. Elastic traction component; 23. Linear drive component; 30. Second conveyor; 31. Telescopic stop component; 32. Pallet; 40. Box transfer mechanism; 41. Support; 4 2. Rotary drive component; 421. Crank; 43. Planetary transmission assembly; 431. Fixed sprocket; 4311. Fixed shaft; 432. Transmission frame; 4321. First rod; 4322. Second rod; 433. Planetary sprocket; 4331. Movable shaft; 434. Chain; 435. Rocker arm; 44. Box gripper; 50. Third conveyor; 60. Box sealing machine; 70. Counter; 71. First sensor; 72. Second sensor; 73. Third sensor; 80. Soft packaging material; 90. Packaging box; 91. Cable tie. Detailed Implementation

[0022] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0023] It should be noted that when an element is referred to as being "set on" or "connected to" another element, it can be directly on or indirectly on the other element. It should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" or "several" means two or more, unless otherwise explicitly specified.

[0024] Please refer to the following: Figures 1 to 5The automatic packing production line for strip-shaped flexible packaging materials provided by the present invention will now be described. The automatic packing production line for strip-shaped flexible packaging materials includes a first conveyor 10, a packing mechanism 20, a second conveyor 30, a box-moving mechanism 40, a third conveyor 50, and a box-sealing machine 60; the first conveyor 10 is used to convey flexible packaging materials 80 along a first direction, the second conveyor 30 is used to convey packaging boxes 90 along a second direction perpendicular to the first direction, and the third conveyor 50 is used to convey packaging boxes 90 along a third direction, the third direction forming an angle with the second direction; the packing mechanism 20 is located between the first conveyor 10 and the second conveyor 30, and is used to sequentially pack the flexible packaging materials 80... The packaging box 90 is grasped and aligned with the first conveyor 10 along the first direction; the box transfer mechanism 40 is located between the second conveyor 30 and the third conveyor 50, and is used to transfer the packaging box 90 filled with soft packaging material 80 from the second conveyor 30 to the third conveyor 50; the box sealing machine 60 is connected to the end of the third conveyor 50 away from the second conveyor 30; wherein, the process of the box transfer mechanism 40 transferring the packaging box 90 includes revolution and rotation, and the revolution and rotation together cause the length direction of the packaging box 90 to change from parallel to the first direction to parallel to the third direction.

[0025] It should be noted that the first conveyor 10, the second conveyor 30, and the third conveyor 50 mentioned above can all be belt conveyors or roller conveyors; the end of the first conveyor 10 away from the second conveyor 30 can be connected to the filling, cutting, and sealing process of the soft packaging material 80 (after alternately filling into the soft sealing bag, the soft sealing bag is cut and sealed), so that the soft packaging material 80 is automatically conveyed to the first conveyor 10 for boxing after filling and sealing. The aforementioned carton sealing machine 60 is a commonly used carton sealing device in the packaging industry. After the packaging box 90 filled with the required amount of flexible packaging material 80 moves to the carton sealing machine 60 on the third conveyor 50, the carton sealing machine 60 automatically tightens the cable ties 91 on the packaging box 90. Generally, at least two cable ties 91 are tightened at intervals along the length of the packaging box 90 (since the flexible packaging material 80 is long and narrow, its length direction is consistent with the length direction of the packaging box 90 after it is loaded into the packaging box 90). Therefore, in this embodiment, it is required that the packaging box 90 maintains its length direction consistent with the third direction as it passes through the carton sealing machine 60 on the third conveyor 50.

[0026] It should be explained that, in this embodiment, the end of the second conveyor 30 near the first conveyor 10 can be connected to an automatic box-loading device, or empty packaging boxes 90 can be manually placed onto the second conveyor 30. When the packaging box 90 moves on the second conveyor 30 to a position aligned with the first conveyor 10, the second conveyor 30 stops running. At this time, the box-loading mechanism 20 grabs the soft packaging material 80 that has moved sequentially to the target position on the first conveyor 10 and transfers it into the packaging box 90. After the target number of soft packaging materials 80 have been loaded, the second conveyor 30 continues running until it reaches the end near the third conveyor 50 and then stops. Then, the box-transfer mechanism 40 grabs the packaging box 90 from the second conveyor 30 and transfers the packaging box 90 to the third conveyor 50.

[0027] During the box transfer process, since there is an angle between the conveying directions of the second conveyor 30 and the third conveyor 50, and the placement angle of the packaging box 90 on the second conveyor 30 is such that its length direction is consistent with the first direction (to facilitate the boxing mechanism 20 to grab the soft packaging material 80 and move it in a straight line to the top of the packaging box 90 for release, thus achieving boxing), and to facilitate the sealing machine 60 to tie the cable ties 91 onto the packaging box 90 (the sealing machine 60 has a cable tie 91 station, and the packaging box 90 can be tied with two cable ties 91 by maintaining the angle direction of its length direction consistent with the first direction), the box transfer mechanism 40 uses its revolution and rotation motion to make the packaging box 90 horizontally displaced while rotating at an angle, so that the packaging box 90 is in a state where its length direction is consistent with the third direction on the third conveyor 50.

[0028] The automatic packing production line for strip-shaped flexible packaging materials provided in this embodiment, compared with the prior art, features a vertical arrangement of the first conveyor 10 and the second conveyor 30. This allows the packing mechanism 20 to complete the packing by simply making a straight-line motion after grabbing the flexible packaging material 80. The second conveyor 30 and the third conveyor 50 can be arranged at any angle according to the actual space on site. The packing mechanism 20 is located in the junction area between the first conveyor 10 and the second conveyor 30, and the packing transfer mechanism 40 is located in the junction area between the second conveyor 30 and the third conveyor 50. Compared with the existing structure where multiple conveyors are linearly connected and industrial robots are placed on the sides of the conveyors, this layout is more flexible, compact, and occupies less space. Based on this, replacing two industrial robots with a box-packing mechanism 20 and a box-transferring mechanism 40 can significantly reduce equipment and maintenance costs, and can also reduce the difficulty and cost of automation control compared to industrial robots. In addition, during the process of transferring the packaging box 90 from the second conveyor 30 to the third conveyor 50, the box-transferring mechanism 40 can use revolution and rotation to adjust the length direction of the packaging box 90 to be consistent with the third direction, so that the sealing machine 60 can easily wrap the packaging box 90 with at least two cable ties 91 in the length direction, thereby saving the step of adjusting the sealing angle of the packaging box 90 on the third conveyor 50, which helps to reduce control difficulty and improve work efficiency.

[0029] In some embodiments, see Figure 2 The packing mechanism 20 includes a gantry frame 21, a gripping assembly 22, and a linear drive 23. The gantry frame 21 is fixedly connected to the end of the first conveyor 10 near the second conveyor 30. The gripping assembly 22 is slidably connected to the gantry frame 21 along a first direction. The linear drive 23 is disposed on the gantry frame 21 and its output end is connected to the gripping assembly 22. The gripping assembly 22 is used to move to the top of the first conveyor 10 under the drive of the linear drive 23 to grip the soft packaging material 80, and to move to the top of the packaging box 90 under the drive of the linear drive 23 to release the soft packaging material 80.

[0030] The linear drive component 23 can be a telescopic cylinder or an electric telescopic rod. The linear drive component 23 drives the gripping component 22 to move above the first conveyor 10 to grip the soft package material 80 at the target travel value position, and then moves it above the packaging box 90 placed on the second conveyor 30. Then the gripping component 22 releases the soft package material 80, allowing it to fall freely into the packaging box 90. This process is repeated a target number of times to fill the packaging box 90 with the target number of soft package materials 80. The structure is simple and compact, with low processing, manufacturing and maintenance costs, and simple control logic with high stability.

[0031] As one specific implementation of the above-mentioned crawling component 22, please refer to Figure 2The gripping assembly 22 includes a slide 221, a telescopic drive 222, a gripping frame 223, and two opening and closing grippers 224. The slide 221 is slidably connected to the gantry frame 21 and connected to the output end of the linear drive 23. The telescopic drive 222 is fixedly connected to the slide 221 and has an output end that extends and retracts in the vertical direction. The gripping frame 223 is connected to the slide 221 or the telescopic drive 222, and the gripping frame 223 has two downwardly extending connecting arms spaced apart along a first direction. The two opening and closing grippers 224 are respectively connected to one of the connecting arms, and both opening and closing grippers 224 are connected to the output end of the telescopic drive 222, for synchronously opening and closing under the drive of the telescopic drive 222 to grip or release the soft package material 80.

[0032] The gantry 21 has a slide rail 211 extending along a first direction. The slide block 221 is slidably connected to the slide rail 211. When the linear drive 23 drives the slide block 221 to move upwards on the first conveyor 10, the telescopic drive 222, such as the output end of the telescopic cylinder, drives the two opening and closing grippers 224 to open. Then, when it moves to be aligned with the soft package material 80 on the first conveyor 10, the telescopic drive 222 drives the two opening and closing grippers 224 to close and grab the soft package material 80. Then, the linear drive 23 drives the slide block 221 to move in the opposite direction to directly above the packaging box 90 placed on the second conveyor 30. Then, the telescopic drive 222 drives the two opening and closing grippers 224 to open simultaneously again, thereby releasing the soft package material 80 so that the soft package material 80 falls freely into the packaging box 90. Here, two opening and closing grippers 224 arranged at intervals along the first direction are used to grip the soft packaging material 80, which can improve the gripping stability. At the same time, the telescopic drive component 222 can drive the two opening and closing grippers 224 to move synchronously, thereby ensuring that the two opening and closing grippers 224 open at the same time when releasing the soft packaging material 80. This avoids the soft packaging material 80 from tilting and falling due to different opening times of the two opening and closing grippers 224, which would affect the stability of entering the packaging box 90.

[0033] For example, please refer to Figure 2 The output end of the aforementioned telescopic drive component 222 is connected to a crossbar 2221, which extends along a first direction. The opening and closing gripper 224 includes two claw arms 2241 and two claw bodies 2242. The two claw bodies 2242 are symmetrically distributed around the connecting arm, and their middle parts are hinged to the connecting arm. The lower ends of the two claw bodies 2242 are provided with claw grooves 2243 that match the circumferential shape of the soft packaging material 80. The upper ends of the two claw bodies 2242 are rotatably connected to the lower end of one of the claw arms 2241, and the upper ends of the two claw arms 2241 are rotatably connected to the end of the crossbar 2221. An elastic traction component 2244 is connected between the upper ends of the two claw arms 2241 or the two claw bodies 2242.

[0034] The two claw arms 2241 form a V-shaped structure that is narrower at the top and wider at the bottom. The two claw bodies 2242 can be bent at the top to form an inverted V-shaped structure that is wider at the top and narrower at the bottom. This allows the lower ends of the two claw arms 2241 and the upper ends of the two claw bodies 2242 to move closer together when the telescopic drive member 222 moves the crossbar 2221 upward. This causes the lower ends of the two claw bodies 2242 to move away from each other, thus completing the action of opening and releasing the soft packaging material 80. Conversely, when the telescopic drive member 222 moves the crossbar 2221 downward, the lower ends of the two claw bodies 2242 can move closer together. The action of closing and gripping the soft packaging material 80 is completed. The lower ends of the two claw bodies 2242 are configured with arc-shaped claw grooves 2243, which allows the two claw bodies 2242 to approach each other and use the two claw grooves 2243 to form a hugging action on the soft packaging material 80, thereby improving gripping stability and preventing the soft packaging material 80 from falling off during the packing process. In addition, by connecting an elastic traction element 2244, such as a tension spring, between the two claw arms 2241 or the upper ends of the two claw bodies 2242, it helps to eliminate movement gaps and improve the opening and closing accuracy of the two claw bodies 2242 under the drive of the telescopic drive element 222. To protect the soft packaging material 80, rubber pads can be provided on the groove walls of the claw grooves 2243.

[0035] As one specific embodiment of the aforementioned box-moving mechanism 40, please refer to Figures 1 to 5 The box-moving mechanism 40 includes a support 41, a rotary drive 42, a planetary transmission assembly 43, and a box-gripping suction cup 44. The support 41 is fixedly supported in the corner area formed by the second conveyor 30 and the third conveyor 50. The rotary drive 42 is vertically fixed to the support 41. The planetary transmission assembly 43 is mounted on the support 41. The power input end of the planetary transmission assembly 43 is connected to the output end of the rotary drive 42. The power output end of the planetary transmission assembly 43 has a horizontal swinging revolution degree of freedom and a horizontal rotational rotation degree of freedom. The box-gripping suction cup 44 is connected to the power output end of the planetary transmission assembly 43 and is used to adsorb the packaging box 90.

[0036] The bracket 41 can be fixedly supported on the ground or fixedly connected to the frame of the second conveyor 30 or the third conveyor 50. Preferably, the bracket 41 is independently fixedly supported on the ground in the corner area formed by the second conveyor 30 and the third conveyor 50. This improves the overall layout compactness and facilitates flexible position adjustment. The rotary drive component 42 can be a servo motor or a stepper motor. Its output end is connected to the power input end of the planetary transmission assembly 43 through a transmission component such as a linkage mechanism. An angular difference can be formed between the power input end and the power output end of the planetary transmission assembly 43, thereby enabling planetary transmission when the rotary drive component 42 rotates one revolution. The power output end of component 43 receives rotational motion. Furthermore, the planetary transmission component 43 itself has a revolution. By selecting the transmission ratio of the planetary transmission component 43 according to the angle between the second conveyor 30 and the third conveyor 50, the packaging box 90 can reach the third conveyor 50 with its length direction aligned with the third conveyor under the combined action of revolution and rotation. This allows the packaging box 90 to pass through the sealing machine 60 with its length direction as the forward direction, facilitating the sealing machine 60 to wrap two cable ties 91 at intervals along the length of the packaging box 90. This eliminates the need for angle adjustment of the packaging box 90 before it enters the sealing machine 60, thereby reducing control difficulty and improving sealing efficiency.

[0037] Optionally, please refer to Figures 3 to 5 The aforementioned planetary transmission assembly 43 includes a fixed sprocket 431, a transmission frame 432, and a planetary sprocket 433. The fixed sprocket 431 is fixedly connected to the bracket 41. The transmission frame 432 is rotatably connected to the axle of the fixed sprocket 431 and is also connected to the output end of the rotary drive member 42. The transmission frame 432 swings around the axle of the fixed sprocket 431 under the drive of the rotary drive member 42. The planetary sprocket 433 is rotatably connected to the transmission frame 432 and is connected to the fixed sprocket 431 via a chain 434. A gripper suction cup 44 is connected to the axle of the planetary sprocket 433. The planetary sprocket 433 is used to revolve around the fixed sprocket 431 under the drive of the transmission frame 432 and also to rotate under the drive of the chain 434.

[0038] The axle of the fixed sprocket 431 is a fixed shaft 4311 fixedly connected to the bracket 41. The planetary sprocket 433 is connected to the fixed shaft 4311 through the transmission frame 432. Specifically, the axle of the planetary sprocket 433 is a movable shaft 4331 rotatably connected to the transmission frame 432. The movable shaft 4331 and the planetary sprocket 433 are connected by a key to constrain their relative rotational freedom. When the rotating drive component 42 drives the transmission frame 432 to swing, the planetary sprocket 433 revolves around the fixed shaft 4311. At the same time, due to the chain 434 driving the planetary sprocket 433 and the fixed sprocket 431, the planetary sprocket 433 revolves around the fixed shaft 4311. Therefore, the planetary sprocket 433 will also rotate while revolving. For the box-grabbing suction cup 44 connected to the movable shaft 4331, the angle of the box-grabbing suction cup 44 swinging is obtained based on the transmission ratio of the fixed sprocket 431 and the planetary sprocket 433. Therefore, by selecting the appropriate transmission ratio according to the included angle between the second conveyor 30 and the third conveyor 50, the packaging box 90 adsorbed on the box-grabbing suction cup 44 can be made to form a state in which the length direction is consistent with the third direction when it reaches the third conveyor 50. The structure is simple and compact and the control difficulty is low.

[0039] It should be noted that, in combination Figure 1 and Figure 5 It is understood that in this embodiment, the tooth ratio of the fixed sprocket 431 and the planetary sprocket 433 is 90°:N; where N is the supplementary angle of the angle between the second direction and the third direction, and 0° < N < 180°.

[0040] The supplementary angle between the second direction and the third direction is actually the arrangement angle between the second conveyor 30 and the third conveyor 50. Therefore, the revolution angle of the planetary sprocket 433 around the fixed sprocket 431 is required to be N. However, if the packaging box 90 only has revolution motion without rotation, its length direction will be perpendicular to the third direction after reaching the third conveyor 50. That is to say, the packaging box 90 needs to rotate 90° to form a state in which its length direction is consistent with the third direction. Therefore, the tooth ratio of the fixed sprocket 431 and the planetary sprocket 433 is 90°∶N. This allows the 90° angle change caused by the revolution motion of the packaging box 90 to be offset by the rotation, so that the actual angle change of the packaging box 90 is N-90°.

[0041] For example, if the second conveyor 30 and the third conveyor 50 are arranged perpendicularly, then N=90°. The tooth ratio of the fixed sprocket 431 and the planetary sprocket 433 is selected as one to one. In this case, the packaging box 90 maintains a constant angle when it is transferred from the second conveyor 30 to the third conveyor 50. That is, the angle changes of the packaging box 90 caused by the revolution and rotation cancel each other out, so that when the packaging box 90 reaches the third conveyor 50, it still maintains the state that the length direction is consistent with the first direction. Since the first direction and the third direction are parallel when N=90°, the length direction of the packaging box 90 is consistent with the third direction at this time.

[0042] If the included angle between the second conveyor 30 and the third conveyor 50 is 120°, i.e., N=120°, then the packaging box 90 needs to rotate 30° to change from a state where its length direction is aligned with the first direction to a state where its length direction is aligned with the third direction. In this case, the tooth ratio of the fixed sprocket 431 and the planetary sprocket 433 is selected as 3:4. When the relative rotation angle between the fixed sprocket 431 and the chain 434 is 120°, i.e., the revolution angle is 120°, the packaging box 90 is transferred from the second conveyor 30 to the third conveyor 50, and the angle change brought about by the transfer is 120°. The rotation angle formed by the planetary sprocket 433 based on this transmission ratio is 90°. Therefore, the actual angle change of the packaging box 90 during the transfer process is N-90°=30°, thereby achieving the state where the length direction is aligned with the third direction when the packaging box 90 reaches the third conveyor 50.

[0043] In some embodiments, the transmission frame 432 described above adopts, for example... Figure 3 and Figure 4 The structure shown includes a first rod 4321 and a second rod 4322 connected at an angle. The joint of the first rod 4321 and the second rod 4322 is rotatably sleeved on the axle of the fixed sprocket 431. The end of the first rod 4321 away from the fixed sprocket 431 is rotatably sleeved on the axle of the planetary sprocket 433. The end of the second rod 4322 away from the fixed sprocket 431 is rotatably connected to a rocker arm 435. The output end of the rotary drive 42 is rotatably connected to a crank 421. The crank 421 is rotatably connected to the rocker arm 435. When the crank 421 rotates one revolution, the rocker arm 435 drives the second rod 4322 to swing back and forth by an angle of N.

[0044] The output end of the rotary drive 42 and the axle of the fixed sprocket 431, i.e., the fixed shaft 4311, are both fixed rotational connection points. The second rod 4322, the crank 421, and the rocker arm 435 form a crank-rocker-rocker kinematic pair based on the above two rotational connection points. Through the dimensional constraints of the second rod 4322, the crank 421, and the rocker arm 435, the rotary drive 42 drives the crank 421 to rotate one revolution, and the second rod 4322 performs a reciprocating swing motion with an angle of N under the drive of the rocker arm 435. Thus, the packaging box 90 can be transferred from the second conveyor 30 to the third conveyor 50 by the unidirectional rotation of the rotary drive 42. After the packaging box 90 is transferred to the third conveyor 50, the box-grabbing suction cup 44 automatically resets to the state of being ready to grab the next packaging box 90 from the second conveyor 30, thereby greatly reducing the control difficulty and improving the motion accuracy.

[0045] In some embodiments, please refer to Figure 1 The second conveyor 30 is provided with a telescopic stop 31. The telescopic stop 31 has an interception state in which it extends to block the packaging box 90. The interception state is used to keep the packaging box 90 in a position aligned with the first conveyor 10 in a first direction. The telescopic stop 31 also has a release state in which it retracts to avoid the packaging box 90.

[0046] Specifically, the telescopic stop 31 can be driven by a telescopic cylinder to move the baffle vertically or horizontally in the first direction. The telescopic stop 31 can block the packaging box 90 to achieve the positioning of the packaging box 90, thereby ensuring that the packing mechanism 20 can accurately release the gripped soft packaging material 80 into the packaging box 90. This avoids the situation where the packaging box 90 is misaligned, causing the released soft packaging material 80 to fail to fall accurately into the packaging box 90, thus improving the stability of the packing process.

[0047] It is important to understand that you should refer to [the relevant documentation / reference]. Figure 1 The above-mentioned automatic packing production line for strip-shaped flexible packaging materials also includes a controller, and a first sensor 71, a counter 70, a second sensor 72, and a third sensor 73 electrically connected to the controller respectively; wherein, the first sensor 71 is used to detect the traveling position of the flexible packaging material 80 on the first conveyor 10, the counter 70 is used to detect the number of packing actions of the packing mechanism 20, the second sensor 72 is used to detect the traveling position of the packaging box 90 on the second conveyor 30, and the third sensor 73 is used to detect whether the box-transfer mechanism 40 has transferred the packaging box 90 to the third conveyor 50.

[0048] The first conveyor 10, the box-packing mechanism 20, the second conveyor 30, the box-moving mechanism 40, and the third conveyor 50 are all controlled by a controller. The box-sealing machine 60, being an existing and mature packaging device, can control its sealing action based on its own control system, or it can be controlled by the controller. The telescopic stop 31 is also controlled by the controller. The first sensor 71 is located at the end of the first conveyor 10 near the second conveyor 30 to detect whether the soft packaging material 80 has moved to the target gripping position. The counter 70 is located at the junction of the first conveyor 10 and the second conveyor 30 and is situated within the box-packing mechanism 20. Directly below, a sensor is used to detect and count the number of times the packing mechanism 20 passes over it; a second sensor 72 is located at the end of the second conveyor 30 near the third conveyor 50, used to detect whether the package 90 has reached the gripping position of the transfer mechanism 40; a third sensor 73 is located at the end of the third conveyor 50 near the second conveyor 30, used to detect whether the transfer mechanism 40 has transferred the package 90 onto the third conveyor 50; each of the above sensors can be a proximity sensor or a through-beam infrared sensor, and the counter 70 can be a proximity sensor or a through-beam infrared sensor with an accumulation function.

[0049] Based on the above controller and various sensors, the automatic control logic of the strip-shaped flexible packaging automatic packing production line provided in this embodiment is as follows: When the first sensor 71 detects that the flexible packaging material 80 has traveled on the first conveyor 10 to the gripping target position, the controller controls the first conveyor 10 to stop running (since the gripping action of the gripping component 22 is an instantaneous action, the first conveyor 10 may not need to stop), and at the same time controls the linear drive 23 to drive the gripping component 22 to move upwards on the first conveyor 10, and at the same time controls the telescopic drive 222 to drive the two opening and closing grippers 224 to open. During this process, the gripping frame 223 passes above the counter 70, and the counter 70 counts once; after the linear drive 23 drives the gripping component 22 to move to the position, the telescopic drive 222 drives the two opening and closing grippers 224 to close and grip the flexible packaging material 80, and then the linear drive 23 drives the gripping component 22 to move in the opposite direction, and the gripping frame 223 passes above the counter 70. When the counter 70 is at the top, it counts once. When the gripping component 22 moves to the top of the packaging box 90 (the extension stroke of the linear drive component 23, such as the telescopic cylinder, is fixed; here, it can be that the gripping component 22 reaches the top of the packaging box 90 when the lever is fully extended, and reaches the top of the soft package material 80 located on the first conveyor 10 when it is fully retracted), the telescopic drive component 222 drives the two opening and closing grippers 224 to open and release the soft package material 80. The soft package material 80 automatically falls into the packaging box 90, completing the packing of one soft package material 80. This process is repeated until the target number of soft package materials 80 are loaded into the packaging box 90. For example, if each packaging box 90 requires eighteen soft package materials 80, then when the counter 70 accumulates thirty-six counts, it means that the packaging box 90 is full. To improve counting accuracy, the counter 70 can be automatically reset to zero after completing one counting cycle to start counting again for the next packing process.

[0050] It should be noted that during the packing process, the controller controls the telescopic stop 31 to extend and maintain an intercepting state, thereby ensuring the accurate stopping position of the package 90 on the second conveyor 30. When the counter 70 accumulates a set number of times, the controller controls the telescopic stop 31 to retract its stroke to release the package, and simultaneously controls the second conveyor 30 to move the package 90. When the package 90 moves on the second conveyor 30 to the target position of the box transfer mechanism 40 (to prevent the package 90 from falling off the second conveyor 30 due to continuous movement of the second conveyor 30, the second conveyor 30 is close to the third conveyor 50...), A tray 32 can be set at the end as the target position for gripping. When the package 90 finally stops on the tray 32 under the conveying of the second conveyor 30, it is detected by the second sensor 72. At this time, the controller controls the telescopic stop 31 to re-extend to form an interception state according to the signal of the second sensor 72. The next package 90 enters the second conveyor 30 and stops at the position aligned with the first conveyor 10 in the first direction under the interception of the telescopic stop 31, waiting for loading. (The action of the telescopic stop 31 in this process can also be controlled based on the time parameter set in the controller, that is, the telescopic stop 31 switches to release.) After maintaining the forward state for a certain period of time, it automatically switches back to the intercept state without relying on the sensing signal of the second sensor 72; after the second sensor 72 detects that the packaging box 90 filled with soft packaging material 80 has reached the target position, the controller controls the box moving mechanism 40 to move, specifically controlling the box gripping suction cup 44 to adsorb the packaging box 90 (the box gripping suction cup 44 uses negative pressure adsorption, and the adsorption and release are achieved by controlling the opening and closing of the negative pressure pipeline). After adsorption, the controller controls the rotary drive component 42 to drive the crank 421 to rotate one revolution. During the rotation of the crank 421 one revolution, the second rod 4322 swings back and forth in both directions. When the limit angle N is reached, the packaging box 90 reaches the third conveyor 50 and is detected by the third sensor 73. The controller then controls the box-grabbing suction cup 44 to release the packaging box 90 based on the detection signal from the third sensor 73. Subsequently, the second rod 4322 swings back to reset and forms an initial state waiting to grab the next packaging box 90 from the second conveyor 30. After the third sensor 73 detects the packaging box 90, the controller controls the third conveyor 50 to run, thereby driving the packaging box 90 toward the sealing machine 60. When the packaging box 90 reaches the sealing machine 60, it is automatically tied with two cable ties 91 to complete the entire packing process.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic packing production line for strip-shaped flexible packaging materials, characterized in that, The system includes a first conveyor, a box-packing mechanism, a second conveyor, a box-shifting mechanism, a third conveyor, and a box-sealing machine. The first conveyor is used to convey flexible packaging materials along a first direction; the second conveyor is used to convey packaging boxes along a second direction perpendicular to the first direction; and the third conveyor is used to convey the packaging boxes along a third direction, which forms an angle with the second direction. The box-packing mechanism is located between the first and second conveyors and is used to sequentially grab the flexible packaging materials into packaging boxes aligned with the first conveyor along the first direction. The box-shifting mechanism is located between the second and third conveyors and is used to transfer packaging boxes filled with the flexible packaging materials from the second conveyor to the third conveyor. The box-sealing machine is connected to the end of the third conveyor away from the second conveyor. The process of the box-moving mechanism transferring the packaging box includes revolution and rotation. The revolution and rotation together cause the length direction of the packaging box to change from being parallel to the first direction to being parallel to the third direction. The box-moving mechanism includes: A bracket is fixedly supported in the corner area formed by the second conveyor and the third conveyor; A rotary drive component is vertically fixed to the bracket; A planetary transmission assembly is mounted on the bracket. The power input end of the planetary transmission assembly is connected to the output end of the rotary drive component. The power output end of the planetary transmission assembly has a horizontal oscillating revolution degree of freedom and a horizontal rotational degree of freedom. A box-grabbing suction cup is connected to the power output end of the planetary transmission assembly and is used to pick up the packaging box. The planetary transmission assembly includes: A fixed sprocket is fixedly connected to the bracket; The transmission frame is rotatably connected to the axle of the fixed sprocket and is also connected to the output end of the rotary drive component. The transmission frame swings around the axle of the fixed sprocket under the drive of the rotary drive component. A planetary sprocket is rotatably connected to the transmission frame and is connected to the fixed sprocket via a chain drive. The gripper suction cup is connected to the axle of the planetary sprocket. The planetary sprocket is used to revolve around the fixed sprocket under the drive of the transmission frame, and also to rotate under the drive of the chain.

2. The automatic packing production line for strip-shaped flexible packaging materials as described in claim 1, characterized in that, The packing mechanism includes: A gantry frame is fixedly connected to the end of the first conveyor near the second conveyor; A gripping component is slidably connected to the gantry along the first direction; A linear drive unit is provided on the gantry frame and its output end is connected to the gripping assembly; The gripping component is used to move to directly above the first conveyor under the drive of the linear drive to grip the soft packaging material, and to release the soft packaging material to directly above the packaging box under the drive of the linear drive.

3. The automatic packing production line for strip-shaped flexible packaging materials as described in claim 2, characterized in that, The crawling component includes: The slide block is slidably connected to the gantry frame and connected to the output end of the linear drive component; A telescopic drive component is fixedly connected to the slide block and has an output end that extends and retracts in the vertical direction; A material gripper is connected to the slide or the telescopic drive member, and the material gripper has two downwardly extending connecting arms distributed at intervals along the first direction. Two opening and closing grippers are respectively connected to one of the connecting arms. Both opening and closing grippers are connected to the output end of the telescopic drive component and are used to open and close synchronously under the drive of the telescopic drive component to grab or release the soft packaging material.

4. The automatic packing production line for strip-shaped flexible packaging materials as described in claim 3, characterized in that, The output end of the telescopic drive component is connected to a crossbar, which extends along the first direction; the opening and closing gripper includes two claw arms and two claw bodies; wherein, the two claw bodies are symmetrically distributed around the connecting arm and their middle parts are hinged to the connecting arm, the lower ends of the two claw bodies are provided with claw grooves matching the circumferential shape of the soft packaging material, the upper ends of the two claw bodies are respectively rotatably connected to the lower end of one of the claw arms, and the upper ends of the two claw arms are rotatably connected to the end of the crossbar; an elastic traction member is connected between the upper ends of the two claw arms or the two claw bodies.

5. The automatic packing production line for strip-shaped flexible packaging materials as described in claim 1, characterized in that, The tooth ratio of the fixed sprocket and the planetary sprocket is 90°:N; where N is the supplementary angle between the second direction and the third direction, and 0° < N < 180°.

6. The automatic packing production line for strip-shaped flexible packaging materials as described in claim 5, characterized in that, The transmission frame includes a first rod and a second rod that are angled together. The joint of the first rod and the second rod is rotatably sleeved on the axle of the fixed sprocket. The end of the first rod away from the fixed sprocket is rotatably sleeved on the axle of the planetary sprocket. The end of the second rod away from the fixed sprocket is rotatably connected to a rocker arm. The output end of the rotary drive is rotatably connected to a crank. The crank is rotatably connected to the rocker arm. When the crank rotates one revolution, the rocker arm drives the second rod to reciprocate at an angle of N.

7. The automatic packing production line for strip-shaped flexible packaging materials as described in claim 1, characterized in that, The second conveyor is equipped with a telescopic stop, which has an interception state in which it extends to block the packaging box, and the interception state is used to keep the packaging box in a position aligned with the first conveyor along the first direction. The telescopic stop also has a release state in which it retracts to avoid the packaging box.

8. The automatic packing production line for strip-shaped flexible packaging materials as described in any one of claims 1-7, characterized in that, The automatic packing production line for strip-shaped flexible packaging materials also includes a controller, and a first sensor, a counter, a second sensor, and a third sensor electrically connected to the controller respectively; wherein, the first sensor is used to detect the traveling position of the flexible packaging material on the first conveyor, the counter is used to detect the number of packing actions of the packing mechanism, the second sensor is used to detect the traveling position of the packaging box on the second conveyor, and the third sensor is used to detect whether the box-transferring mechanism transfers the packaging box to the third conveyor.

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